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Implement evaluate method for LocalTrajectory, Implement TebObstacleManager

Merged Implement evaluate method for LocalTrajectory, Implement TebObstacleManager
feature/local_trajectory_interpolation into dev
1 unresolved thread
Merged Tobias Gröger requested to merge feature/local_trajectory_interpolation into dev
1 unresolved thread

Convert LocalTrajectory to a proper class so the evaluate method can be implemented. Let LocalTrajectoryController use evaluate method.

Add TebObstacleManager to add static obstacles for optimization.

Closes #17 (closed), #19 (closed), #21 (closed)

Edited by Tobias Gröger

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source/armarx/navigation/local_planning/TimedElasticBands.cpp
146 146 true};
147 147 }
148 148
149 void
150 TimedElasticBands::fillObstacles()
151 {
152 obstManager.clear();
153
154 if (scene.staticScene.has_value())
155 {
156 for (auto& obst : scene.staticScene.value().objects->getCollisionModels())
  • Fabian Reister
    Fabian Reister @reister ·
    Owner

    @groegerto great!

  • Fabian Reister mentioned in commit bf07e345

    mentioned in commit bf07e345

  • Fabian Reister merged

    merged

  • Fabian Reister mentioned in issue #17 (closed)

    mentioned in issue #17 (closed)

  • Fabian Reister mentioned in issue #19 (closed)

    mentioned in issue #19 (closed)

  • Fabian Reister mentioned in issue #21 (closed)

    mentioned in issue #21 (closed)

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